In this work, we printed a Nafion precursor membrane by fused deposition modeling (FDM) rapid prototyping technology and further fabricated IPMCs by electroless plating. The ion-exchange capacity of the Nafion membrane was tested, and the morphology of IPMCs was observed. The electro-mechanical properties of IPMCs under AC voltage inputs were studied, and grasping experiments were performed. The results show that the Nafion membrane after hydrolysis has a good ion-exchange ability and water-holding capacity. SEM observed that the thickness of the IPMC’s electrode layer was about 400 nm, and the platinum layer was tightly combined with the substrate membrane. When using a square wave input of 3.5 V and 0.1 Hz, the maximum current of IPMCs reached 0.30 A, and the displacement and blocking force were 7.57 mm and 10.5 mN, respectively. The new fabrication process ensures the good driving performance of the printed IPMC. And two pieces of IPMCs can capture the irregular objects successfully, indicating the feasibility of printing IPMCs by FDM technology. This paper provides a new and simple method for the fabrication of three-dimensional IPMCs, which can be further applied in flexible grippers and soft robotics. GRAPHICAL ABSTRACT

In this work, a helical ionic polymer metal composite (IPMC) was fabricated by thermal treatment in a mold with helix grooves. The axial actuation behaviors of the helical IPMC actuator were observed, and the electromechanical and electrochemical characteristics were evaluated. The experimental results showed that as the voltage increased and the frequency decreased, the axial displacement, axial force, and electric current of the actuator all increased. Compared with square wave and sinusoidal signals, the actuator exhibited the most satisfactory motion under the direct current (DC) signal. For the electrochemical test, as the scanning rate decreased, the gravimetric specific capacitance increased. Within a suitable voltage range, the actuator was chemically stable. In addition, we coupled the Electrostatics module, Transport of Diluted Species module, and Solid Mechanics module in COMSOL Multiphysics software to model and analyze the helical IPMC actuator. The simulation data obtained were in good agreement with the experimental data. Finally, by using three helical IPMC actuators as driving components, an innovative three-degree-of-freedom (3-DOF) micro-parallel platform was designed, and it could realize a complex coupling movement of pitch, roll, and yaw under the action of an electric field. This platform is expected to be used in micro-assembly, flexible robots, and other fields.

Braille displays are a class of human–computer interaction electromechanical devices that display dynamic braille through an array of actuators. However, existing actuators for braille displays suffer from issues such as bulky size, heavy weight, and small tactile displacement, leading to difficulties in improving their resolution and readability. To address the above issues, we developed a novel electroactive artificial muscle actuator and applied it to braille displays. The novel actuator consists of a surface-structured PVC gel and planar electrodes. To investigate the effect of surface structure on the performance of novel PVC gel actuators, four types of surface-structured PVC gels were fabricated by a casting process, and their actuation performance was tested. The results show that the conical and frustum conical array structures are more favorable for improving the displacement of novel PVC gel actuators, while the cylindrical and quadrangular array structures are more favorable for improving their recovery forces. We observed both surface structure and dynamic electrical actuation, suggesting that the actuation of the novel actuator is mainly caused by the deformation of the surface structure of the array. We also analyzed electrowetting effects in PVC gels using the Lippmann–Young equation, to explain the differences in the performance of surface-structured PVC gels with different contact angles. Moreover, six multilayer actuators composed of PVC gels with a conical surface array structure are applied to the braille display unit to display the braille digits from 0 to 9. It has been shown that the novel PVC gel actuator has excellent mechanical properties, which makes it an ideal solution for braille displays.

Ionic polymer-metal composites (IPMCs) are electroactive polymer actuators that have been used as artificial muscles and have broad application prospects. In order to further improve the actuation performance of cylindrical IPMCs, Nafion rods with different diameters were prepared by extrusion process, and cylindrical IPMCs with high-quality Pt electrode layers were prepared by electroless plating in this study. The electrochemical properties and actuation performance of cylindrical IPMCs with various diameters were investigated. The tests show that the prepared cylindrical IPMCs have excellent electromechanical properties. As diameter increases, the blocking force and counter back-relaxation ability both increase significantly. Furthermore, the IPMCs with diameter of 3.0 mm under a DC voltage exhibits a superior blocking force (323.9 mN) and excellent power density (up to 139.41 W m ⁻³ ). Moreover, the thick cylindrical IPMC can lift objects 400 times its weight, demonstrating exceptional load capacity, which shows great prospect of realizing artificial muscles.

Multi-vehicle tracking is used in advanced driver assistance systems to track obstacles, which is fundamental for high-level tasks. It requires real-time performance while dealing with object illumination variations and deformations. To this end, we propose a novel multi-vehicle tracking algorithm based on a monocular camera in driver view. It follows the tracking-by-detection paradigm and integrates detection and appearance descriptors into a single network. The one-stage detection approach consists of a backbone, a modified BiFPN as a neck layer, and three prediction heads. The data association consists of a two-step matching strategy together with a Kalman filter. Experimental results demonstrate that the proposed approach outperforms state-of-the-art algorithms. It is also able to solve the tracking problem in driving scenarios while maintaining 16 FPS on the test dataset.